Proximity Sensor for Thin Wire Recognition and Manipulation

Machines

Andrea Cirillo¹  Salvatore Pirozzi¹  Gianluca Laudante¹ 

[1] Dipartimento di Ingegneria, Università degli Studi della Campania “Luigi Vanvitelli”, Via Roma 29, 81031 Aversa, CE, Italy;

关键词: proximity sensing;    dexterous manipulation;    object recognition;    object manipulation;   

DOI  :  10.3390/machines9090188

来源: DOAJ

【 摘 要 】

In robotic grasping and manipulation, the knowledge of a precise object pose represents a key issue. The point acquires even more importance when the objects and, then, the grasping areas become smaller. This is the case of Deformable Linear Object manipulation application where the robot shall autonomously work with thin wires which pose and shape estimation could become difficult given the limited object size and possible occlusion conditions. In such applications, a vision-based system could not be enough to obtain accurate pose and shape estimation. In this work the authors propose a Time-of-Flight pre-touch sensor, integrated with a previously designed tactile sensor, for an accurate estimation of thin wire pose and shape. The paper presents the design and the characterization of the proposed sensor. Moreover, a specific object scanning and shape detection algorithm is presented. Experimental results support the proposed methodology, showing good performance. Hardware design and software applications are freely accessible to the reader.

【 授权许可】

Unknown